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HAL_ChibiOS: fixed cork/push #29521

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Mar 17, 2025
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HAL_ChibiOS: fixed cork/push #29521

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9 changes: 8 additions & 1 deletion libraries/AP_HAL_ChibiOS/RCOutput.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -737,7 +737,13 @@ void RCOutput::write(uint8_t chan, uint16_t period_us)

chan -= chan_offset;

period[chan] = period_us;
if (corked) {
// when corked we put the updated period in a separate array which is
// copied to period[] when we push
period_corked[chan] = period_us;
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I mean shouldn't this always be the case? Couldn't you just assert on the non-corked case?

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@tridge tridge Mar 13, 2025 •
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there could be special cases where we write non-corked, for something going into 4.6.0 I wouldn't want to rule out non-corked output on some weird vehicle setup
one example would be ReplayGyroFFT
another in toy_mode test code
for 4.7.0 I'd be happy to enforce corked only, starting with SITL

} else {
period[chan] = period_us;
}

if (chan < num_fmu_channels) {
active_fmu_channels = MAX(chan+1, active_fmu_channels);
Expand Down Expand Up @@ -1344,6 +1350,7 @@ void RCOutput::push(void)
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
}
corked = false;
memcpy(period, period_corked, sizeof(period));
push_local();
#if HAL_WITH_IO_MCU
if (iomcu_enabled) {
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1 change: 1 addition & 0 deletions libraries/AP_HAL_ChibiOS/RCOutput.h
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Expand Up @@ -563,6 +563,7 @@ class ChibiOS::RCOutput : public AP_HAL::RCOutput
// these values are for the local channels. Non-local channels are handled by IOMCU
uint32_t en_mask;
uint16_t period[max_channels];
uint16_t period_corked[max_channels];

// handling of bi-directional dshot
struct {
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